Description of the Scenario. This scenario addresses the first main objective of dISAS. It ensures the demonstrator provides a working set of tools for the specification, execution, replay, and visualization of large structure assembly. The scenario is run twice with the same set of random seeds to validate its repeatability In this scenario the following steps are carried out: Step Description
Description of the Scenario. The scenario simulates a spacecraft structure embedding a reaction wheel, a gyroscope sensor, solar panels, and a camera facing an Apriltag. A command is sent to the reaction wheel which makes the spacecraft structure and solar panels move. This allows testing the flexibility plugin, the possibility to model realistic sensors/actuators. The scenario is run twice with the same set of random seeds to check its repeatability. The simulated Apriltag and camera are used to check that core components can interface seamlessly with real and simulated hardware. In this scenario the following steps are carried out: Step Description
Description of the Scenario. The scenario simulates a complete assembly of the primary mirror. The simulator has to simulate the robotic arm motions and the reaction forces induced by these motions on the spacecraft during the tiles-assembly process. It shall be able to simulate the contact between distinct body and kinematic variations. The AOCS controllers shall: - ensure the pointing stability required by the current mission phase - be robust to system uncertainties - handle actuators saturations - be configurable Step Description
Description of the Scenario. In this scenario the dLSAFFE demonstrator is placed inside the zero-buoyancy test facility to carry out the automated assembly of a pre-assembly of 5 mirrors. The full assembly sequence is estimated to take 83 minutes.
Description of the Scenario. This scenario encompasses all the tests required to guarantee functionality of the RAS for performing scenarios 2 and 3 of the demonstration. The tests to perform include the following: Item Description 1 Initialization process for RAS RAS should have a home position that ensures a good initialization procedure, a safe stowage position, and should count with a calibration/verification strategy before starting the plan execution. Item Description 2 Reachability of the arm This analysis guarantees that the arm is capable of reaching all the required areas, including the storage area and the goal poses for all the SMTs involved in the process.
Description of the Scenario. This scenario is divided in steps: one for each mirror tile of the assembly as illustrated by the table below.
Description of the Scenario. This scenario encompasses all the tests required to guarantee functionality of the RAS for performing scenarios 2 and 3 of the demonstration. The tests to perform include the following: Item Description 1 Reachability of the arm This analysis guarantees that the arm is capable of reaching all the required areas, including the storage area and the goal poses for all the SMTs involved in the process. 2 Initialization process for RAS RAS should have a home position that ensures a good initialization procedure, a safe stowage position, and should count with a calibration/verification strategy before starting the plan execution.
Description of the Scenario. In this scenario the dLSAFFE demonstrator is placed inside the zero-buoyancy test facility to carry out the automated assembly of 6 mirrors of the inner ring of the telescope. In this scenario the following steps are carried out: Step Description Visual 0 Setup: Precondition: SMTs are stored in container Precondition: Manipulator is in stowage configuration Hoisting of spacecraft in the pool
Description of the Scenario. In this scenario the dLSAFFE demonstrator is placed inside the zero-buoyancy test facility to carry out the automated assembly of a pre-assembly of 5 mirrors. In this scenario the following steps are carried out: Step Description Visual 0 Setup: Precondition: SMTs are stored in container Precondition: Manipulator is in stowage configuration Hoisting of spacecraft in the pool 1 Initial tile 2 Attach tile 3 Undock 4 Rotate and dock Step Description Visual 5 Attach Tile 6 Undock 7 Rotate and dock 8 Attach tile 9 Undock Step Description Visual 10 Rotate and dock 11 Undock 12 Rotate and dock 13 Attach tile 14 Unsetup: Disassemble mirror Stowage of manipulator in stowage position Hoisting of spacecraft out of the pool
Description of the Scenario. In this scenario the dLSAFFE demonstrator is placed inside the zero-buoyancy test facility to carry out the automated assembly. In this scenario the following steps are carried out: Step Description Visual 0 Setup: Precondition: SMTs are stored in container Precondition: Manipulator is in stowage configuration Hoisting of spacecraft in the pool 1 Initial tile on inner ring 2 Attach tile to inner ring Step Description Visual 3 Initial tile of pre-assembly 4 Attach tile to pre-assembly 5 Undock pre-assembly 6 Rotate and dock pre-assembly
